WO2016067982A1 - Dispositif de commande de moteur - Google Patents

Dispositif de commande de moteur Download PDF

Info

Publication number
WO2016067982A1
WO2016067982A1 PCT/JP2015/079627 JP2015079627W WO2016067982A1 WO 2016067982 A1 WO2016067982 A1 WO 2016067982A1 JP 2015079627 W JP2015079627 W JP 2015079627W WO 2016067982 A1 WO2016067982 A1 WO 2016067982A1
Authority
WO
WIPO (PCT)
Prior art keywords
motor
current
current sensor
value
smoothing capacitor
Prior art date
Application number
PCT/JP2015/079627
Other languages
English (en)
Japanese (ja)
Inventor
紘和 三本菅
恒平 明円
和人 大山
Original Assignee
日立オートモティブシステムズ株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立オートモティブシステムズ株式会社 filed Critical 日立オートモティブシステムズ株式会社
Priority to US15/520,746 priority Critical patent/US10090790B2/en
Priority to JP2016556513A priority patent/JP6363221B2/ja
Priority to CN201580056983.3A priority patent/CN106852184B/zh
Priority to EP15856081.3A priority patent/EP3214754B1/fr
Publication of WO2016067982A1 publication Critical patent/WO2016067982A1/fr

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/0092—Arrangements for measuring currents or voltages or for indicating presence or sign thereof measuring current only
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/28—Arrangements for controlling current
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/145—Indicating the presence of current or voltage
    • G01R19/15—Indicating the presence of current
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
    • G01R35/005—Calibrating; Standards or reference devices, e.g. voltage or resistance standards, "golden" references
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R35/00—Testing or calibrating of apparatus covered by the other groups of this subclass
    • G01R35/02—Testing or calibrating of apparatus covered by the other groups of this subclass of auxiliary devices, e.g. of instrument transformers according to prescribed transformation ratio, phase angle, or wattage rating
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Definitions

  • the present invention relates to a motor control device.
  • the inverter In the system that converts the output from the power source into an AC voltage by the inverter and drives the motor, the inverter has an element that performs switching at high speed in order to control the voltage applied to the motor. In order to smooth the voltage that fluctuates due to this switching, a smoothing capacitor is disposed between the inverter and the power source. Further, a relay is provided between the power source and the inverter in order to open and close the connection between them.
  • the voltage of the smoothing capacitor is approximately the same as the power supply voltage, and it is several hundred volts for hybrid and electric vehicles.
  • the inverter it is necessary to discharge the smoothing capacitor quickly after opening the relay so that the work can be performed safely.
  • Patent Document 1 proposes a method of discharging the electric charge of the smoothing capacitor by passing an electric current through the motor.
  • Supply to the motor so that the d-axis current that excites the motor together with the permanent magnet for exciting the motor is non-zero, and the q-axis current that goes straight to the d-axis and gives torque to the motor is zero
  • Control the current The current supplied to the motor is determined by feedback control that operates so that the difference between the current value detected by the current sensor and flowing through the motor and the target current value approaches zero.
  • the unintended current is a current whose q-axis current is non-zero. q When the shaft current flows, torque is generated in the motor and the motor may rotate.
  • the problem to be solved by the present invention is to reduce the generation of torque in the motor due to the unintentional flow of the motor q-axis current when the smoothing capacitor is discharged.
  • a motor control device detects an inverter having a smoothing capacitor connected to a power supply via a relay, a motor connected to the inverter, and a current flowing through the motor.
  • a current sensor correction unit that corrects the current sensor in a state where no current of the motor is flowing until the start of discharge control by the control unit, and the discharge control unit is corrected by the current sensor correction unit. Further, discharging is performed by controlling the motor current based on the value of the current sensor.
  • FIG. 1 is a diagram for explaining an outline of a motor control system including an apparatus for performing discharge processing of a power source, a motor, and a smoothing capacitor in the first embodiment of the present invention.
  • the motor control system includes a power supply 10, a relay 20, a motor 30, a magnetic pole position detection circuit 40 of the motor 30, an inverter 50, a smoothing capacitor 60, a voltage detection circuit 70 for the smoothing capacitor 60, a motor 30 and an inverter. 50 current sensors 80 and a control device 90 are provided.
  • the power source 10 is a DC power source of several hundreds [V], and a nickel metal hydride battery or a lithium ion battery is used.
  • Relay 20 is arranged between power supply 10 and inverter 50. When the relay 20 is in the open state, the power source 10 and the inverter 50 are electrically disconnected. When the relay 20 is in the closed state, the power source 10 and the inverter 50 are electrically connected, and the power of the power source 10 is supplied to the inverter 50.
  • the smoothing capacitor 60 smoothes the output of the power supply 10 and becomes substantially the same voltage as the power supply 10 when the relay 20 is closed.
  • the voltage value Vdc of the smoothing capacitor 60 is detected by the voltage detection circuit 70 and transmitted to the control device 90.
  • the inverter 50 incorporates a plurality of switching element portions 51 (for example, IGBTs and diodes) that perform switching, and converts power from the power supply 10 from direct current to three-phase alternating current.
  • the switching element unit 51 built in the inverter 50 is arranged for each of three phases on the positive electrode side and the negative electrode side of the power supply 10, and changes the pulse width of the voltage generated by the switching of the total of six elements, thereby changing the predetermined voltage Can be applied to the motor 30 by pulse width modulation.
  • the motor 30 is composed of two parts: a stator having three-phase (here, U-phase, V-phase, and W-phase) windings, and a rotor that generates torque by magnetic flux that changes when current flows through the windings. Is done.
  • the current flowing through the motor 30 is detected by the current sensor 80 and transmitted to the current sensor correction unit 95.
  • the current values Iu, Iv, and Iw detected by the current sensor 80 include a current sensor detection error called an offset error.
  • the magnetic pole position detection circuit 40 detects a magnetic pole position ⁇ that changes as the rotor of the motor 30 rotates, and the magnetic pole position ⁇ is transmitted to the rotation speed calculation unit 91 and the PI control unit 94.
  • the control device 90 includes a rotation speed calculation unit 91, a current command generation unit 92, a discharge control unit 93, a PI control unit 94, a current sensor correction unit 95, and a PWM generation unit 96, and generates torque from the outside.
  • the command Trq is received and the current supplied to the motor 30 is controlled.
  • the rotation speed calculation unit 91 acquires the magnetic pole position ⁇ from the magnetic pole position detection circuit 40, and generates the motor rotation speed ⁇ from the change amount of the magnetic pole position ⁇ .
  • the current command generation unit 92 Based on the torque command Trq received from the outside, the current command generation unit 92 outputs the target current values of the d-axis and the q-axis to output the designated torque, the motor rotation speed ⁇ , and the smoothing capacitor voltage Vdc of the smoothing capacitor 60. Generate according to.
  • the current sensor correction unit 95 corrects the detection error caused by the offset error of the current sensor 80 with respect to the current values Iu, Iv, and Iw detected by the current sensor 80.
  • the corrected current values Iu ′, Iv ′, Iw ′ corrected by the current sensor correction unit 95 are used by the PI control unit 94.
  • the PI control unit 94 compares the target current values of the d-axis and the q-axis with the current values obtained by converting the corrected current values Iu ′, Iv ′, and Iw ′ into the d-axis current and the q-axis current.
  • a PI command is applied to generate a voltage command value.
  • the PWM generation unit 96 generates a PWM drive signal for on / off control of the switching element unit 51 based on the voltage command value and the smoothing capacitor voltage Vdc.
  • the discharge controller 93 outputs target current values for the d-axis and the q-axis that are necessary for the discharge by the winding of the motor 30.
  • the discharge control unit 93 performs switching so that the target current value output from the discharge control unit 93 is input to the PI control unit 94.
  • FIG. 2 is a flowchart for explaining the flow from the start to the stop of the control device 90.
  • step 10 When the system is started in step 10, the relay 20 is closed in step 20, the power supply 10 and the inverter 50 are connected, and a voltage is applied to the smoothing capacitor 60.
  • step 30 the process proceeds to step 30, and the motor 30 can be controlled.
  • the control device 90 calculates a voltage command value from the target torque command and performs output control of the PWM drive signal.
  • step 40 When the stop request to the system is confirmed in step 40, the output of the PWM drive signal is stopped and the relay 20 is opened in step 50, and the power source 10 and the inverter 50 are electrically disconnected.
  • the current sensor correction process in step 60 is performed.
  • the current sensor detection value in a state where the current becomes zero is held as an offset error correction value.
  • the current sensor correction unit 95 corrects the detection error caused by the offset error by subtracting the offset error correction value acquired from the current values Iu, Iv, and Iw detected by the current sensor 80.
  • Step 70 In order to discharge the electric charge remaining in the smoothing capacitor 60, a discharge process in Step 70 is performed.
  • the smoothing capacitor voltage Vdc falls below a predetermined value due to the discharge process, the completion of the discharge process is confirmed in step 80, and the system is stopped in step 90.
  • FIG. 3 is a flowchart for explaining the flow of the current sensor correction process performed prior to the discharge process when the relay 20 of the motor control system is in the open state.
  • the current sensor correction process is started.
  • the current sensor correction unit 95 determines the current state of the motor 30, and if it determines that no current is flowing, acquires a current sensor detection value in step 120.
  • the current sensor correction unit 95 sets the current sensor detection value acquired in step 120 as an offset error correction value.
  • the current sensor correction unit 95 generates corrected current values Iu ′, Iv ′, and Iw ′ that correct the offset error by subtracting the offset error correction value from the current sensor detection value while the motor control system is activated.
  • the initial value of the offset error correction value is 0, and is updated every time the current sensor correction process is performed.
  • FIG. 4 is a diagram showing a relationship between a current sensor detection value with respect to a current value (true value) and an offset error included in the detection value.
  • a detection error called an offset error is added to a current value (true value) that is the amount of current actually flowing.
  • the offset error is a constant value regardless of the magnitude of the current value (true value). The magnitude of the offset error varies depending on individual differences of current sensors.
  • FIG. 5 is a diagram showing the current sensor detection value with respect to the current value (true value) and the temperature characteristics of the offset error.
  • the offset error has a characteristic that varies depending on the temperature of the current sensor (temperature characteristic).
  • FIG. 6 shows the offset error (with temperature characteristics), offset error correction value, current value (true value), and current value after correction when current sensor correction processing is performed at the time of system startup. It is a figure. Here, a current sensor having a larger offset error as the temperature is higher will be described.
  • the temperature of the current sensor 80 gradually increases from the start of the controllable state of the motor 30 (time T1), and is higher than that at the time of system startup (time T0 to time T1) at the start of discharge processing (time T3). Yes.
  • the offset error gradually increases from time T1 as with the current sensor temperature.
  • the offset error correction value becomes the same value as the offset error (with temperature characteristics) at time T5.
  • the lower part of FIG. 6 shows the relationship between the current value (true value) and the corrected current value.
  • an offset error correction value is set, and the corrected current value becomes the same as the current value (true value).
  • the offset error becomes larger than time T5 as the current sensor temperature rises.
  • the corrected current value is different from the current value (true value) at the start of the discharge process (time T3), and there is a possibility that an unintended current flows in the motor and torque is generated.
  • FIG. 7 shows an offset error (with temperature characteristics), offset error correction value, current value (true value), and corrected current value when the current sensor correction process is performed immediately before the start of the discharge process.
  • FIG. 8 is a flowchart for explaining the flow of the current sensor correction process that is performed prior to the discharge process when the relay 20 of the motor control device is opened in the second embodiment of the present invention.
  • the smoothing capacitor voltage Vdc is set to the voltage threshold 1 in step 111.
  • step 112 if it is determined that the elapsed time from the execution of step 111 has passed the time threshold 1, the process proceeds to step 113.
  • step 113 If it is determined in step 113 that the smoothing capacitor voltage Vdc is equal to or lower than the voltage threshold 1, the process proceeds to step 120. If the smoothing capacitor voltage Vdc is not less than or equal to the voltage threshold 1, the process proceeds to step 111, where the voltage threshold 1 is updated and set with the current smoothing capacitor voltage Vdc.
  • step 120 the detection value of the current sensor is acquired.
  • step 130 the current sensor correction unit 95 sets the current sensor detection value acquired in step 120 as an offset error correction value.
  • the current sensor correction unit 95 generates corrected current values Iu ′, Iv ′, and Iw ′ that correct the offset error by subtracting the offset error correction value from the current sensor detection value while the motor control device is activated.
  • the initial value of the offset error correction value is 0, and is updated every time the current sensor correction process is performed.
  • the current sensor offset error correction by the current sensor correction unit 95 shown in FIG. 1 is based on the premise that no current flows between the inverter 50 and the motor 30.
  • the controller 90 controls the inverter 50 and does not flow current to the motor 30 after the relay 20 is cut off until the discharge process is started.
  • the switching element unit 51 of the inverter 50 is not performing a switching operation.
  • an induced voltage is generated in the motor 30 while the motor 30 is still rotating when the relay 20 is open, depending on the magnitude of the smoothing capacitor voltage value Vdc, it passes through the diode of the switching element portion 51 of the inverter 50.
  • a current flows to the smoothing capacitor 60.
  • the smoothing capacitor voltage Vdc increases. Therefore, the current sensor correction unit 95 performs a current sensor correction process when it is determined that the smoothing capacitor voltage Vdc has not increased as shown in step 113 of FIG. If it is determined that the smoothing capacitor voltage Vdc has not increased, no voltage increase has occurred due to the induced voltage of the motor 30. That is, no current is flowing from the motor 30 to the smoothing capacitor 60 via the inverter 50. Accordingly, whether or not the current sensor correction can be performed can be determined by determining the increase in the smoothing capacitor voltage Vdc.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)

Abstract

La présente invention permet de réduire la génération de couple dans un moteur due à la circulation accidentelle d'un courant d'axe q dans un moteur pendant la décharge d'un condensateur de lissage. Un dispositif de commande de moteur, selon l'invention, qui commande un système ayant un onduleur qui possède un condensateur de lissage connecté à une source d'alimentation par l'intermédiaire d'un relais, un moteur qui est connecté à l'onduleur et un capteur de courant qui détecte un courant circulant dans le moteur, est pourvu d'une unité de commande de décharge, qui décharge dans le moteur, par l'intermédiaire de l'onduleur, une charge stockée dans le condensateur de lissage, et d'une unité d'étalonnage de capteur de courant, qui étalonne le capteur de courant alors que le courant dans le moteur ne circule pas durant l'intervalle compris entre le moment auquel le relais est coupé et le début de la commande de décharge par l'unité de commande de décharge. L'unité de commande de décharge effectue une décharge par commande du courant du moteur sur la base de la valeur du capteur de courant étalonné par l'unité d'étalonnage de capteur de courant.
PCT/JP2015/079627 2014-10-30 2015-10-21 Dispositif de commande de moteur WO2016067982A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
US15/520,746 US10090790B2 (en) 2014-10-30 2015-10-21 Motor control device
JP2016556513A JP6363221B2 (ja) 2014-10-30 2015-10-21 モータ制御装置
CN201580056983.3A CN106852184B (zh) 2014-10-30 2015-10-21 电动机控制装置
EP15856081.3A EP3214754B1 (fr) 2014-10-30 2015-10-21 Dispositif de commande de moteur

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2014-220955 2014-10-30
JP2014220955 2014-10-30

Publications (1)

Publication Number Publication Date
WO2016067982A1 true WO2016067982A1 (fr) 2016-05-06

Family

ID=55857323

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/079627 WO2016067982A1 (fr) 2014-10-30 2015-10-21 Dispositif de commande de moteur

Country Status (5)

Country Link
US (1) US10090790B2 (fr)
EP (1) EP3214754B1 (fr)
JP (1) JP6363221B2 (fr)
CN (1) CN106852184B (fr)
WO (1) WO2016067982A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018100399A1 (fr) * 2016-12-02 2018-06-07 Cambridge Medical Robotics Limited Détection de courant de moteur

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3258591B1 (fr) * 2015-02-12 2021-08-11 Hitachi Automotive Systems, Ltd. Dispositif de commande d'entraînement de moteur
CN111106744A (zh) * 2018-10-26 2020-05-05 上海汽车集团股份有限公司 一种逆变器主动放电方法和装置
JP7200758B2 (ja) * 2019-03-05 2023-01-10 株式会社デンソー 電圧変換装置
US11489472B2 (en) * 2021-03-03 2022-11-01 GM Global Technology Operations LLC Current source inverter control systems and methods
DE102021204397A1 (de) * 2021-05-03 2022-11-03 Robert Bosch Gesellschaft mit beschränkter Haftung Verfahren zur Plausibilisierung einer Strommessung zwischen einemelektrischen Energiespeichersystem und einem elektrischen Verbraucher

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005130570A (ja) * 2003-10-22 2005-05-19 Koyo Seiko Co Ltd パワーステアリング装置および電流検出手段のゲイン差補償方法
JP2008094342A (ja) * 2006-10-16 2008-04-24 Jtekt Corp 電動パワーステアリング装置
JP2013128403A (ja) * 2011-12-19 2013-06-27 Ls Industrial Systems Co Ltd 電流センサにおけるオフセット補償装置及びその方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3289567B2 (ja) 1995-08-31 2002-06-10 トヨタ自動車株式会社 インバータ内部蓄電手段の放電装置
JP3225901B2 (ja) * 1997-10-13 2001-11-05 トヨタ自動車株式会社 電池蓄電量検出装置
JP2005176580A (ja) * 2003-12-15 2005-06-30 Nissan Motor Co Ltd 電気車の制御装置
JP4539431B2 (ja) * 2005-05-11 2010-09-08 トヨタ自動車株式会社 電源制御装置
US7944161B2 (en) * 2008-03-12 2011-05-17 GM Global Technology Operations LLC DC bus discharge in an electric motor system
JP2011200105A (ja) * 2010-02-26 2011-10-06 Denso Corp 回転機の制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2005130570A (ja) * 2003-10-22 2005-05-19 Koyo Seiko Co Ltd パワーステアリング装置および電流検出手段のゲイン差補償方法
JP2008094342A (ja) * 2006-10-16 2008-04-24 Jtekt Corp 電動パワーステアリング装置
JP2013128403A (ja) * 2011-12-19 2013-06-27 Ls Industrial Systems Co Ltd 電流センサにおけるオフセット補償装置及びその方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
See also references of EP3214754A4 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2018100399A1 (fr) * 2016-12-02 2018-06-07 Cambridge Medical Robotics Limited Détection de courant de moteur
US10976353B2 (en) 2016-12-02 2021-04-13 Cmr Surgical Limited Sensing motor current
US11353481B2 (en) 2016-12-02 2022-06-07 Cmr Surgical Limited Sensing motor current
US11747368B2 (en) 2016-12-02 2023-09-05 Cmr Surgical Limited Sensing motor current

Also Published As

Publication number Publication date
US10090790B2 (en) 2018-10-02
JP6363221B2 (ja) 2018-07-25
CN106852184A (zh) 2017-06-13
JPWO2016067982A1 (ja) 2017-07-06
EP3214754A1 (fr) 2017-09-06
EP3214754B1 (fr) 2020-10-14
EP3214754A4 (fr) 2018-07-04
US20170331401A1 (en) 2017-11-16
CN106852184B (zh) 2019-09-06

Similar Documents

Publication Publication Date Title
JP6363221B2 (ja) モータ制御装置
KR100617670B1 (ko) 전동 파워 스티어링 제어 장치
JP5091535B2 (ja) モータ制御装置
JP5055836B2 (ja) 同期モーター用磁極位置センサーの位相ズレ検出装置および検出方法
US9590551B2 (en) Control apparatus for AC motor
JPH11308704A (ja) 電気車の制御装置及び制御方法
WO2012111505A1 (fr) Dispositif de commande de moteur
US20150211533A1 (en) Electric compressor
JP2010246182A (ja) インバータの故障検知装置
JP2016083977A (ja) モータ制御装置
JP5375052B2 (ja) インバータの放電装置
JP6396869B2 (ja) モータ制御装置
JP5316551B2 (ja) 回転機の制御装置
JP4739290B2 (ja) 電動パワーステアリング制御装置
KR101171914B1 (ko) 친환경 자동차의 모터온도 추정방법 및 장치
JP2015154579A (ja) モータ制御装置
JP2005176580A (ja) 電気車の制御装置
JP5904583B2 (ja) モータの制御装置
CN112075021B (zh) 电动机控制装置
JP2007228662A (ja) 誘導電動機の制御装置
JP5568055B2 (ja) 電力供給装置
JP2012223026A (ja) 駆動装置
JP5542168B2 (ja) 電動機の制御装置
JP6933118B2 (ja) 駆動装置
JP5082586B2 (ja) 交流電動機の制御方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15856081

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2016556513

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 15520746

Country of ref document: US

REEP Request for entry into the european phase

Ref document number: 2015856081

Country of ref document: EP

WWE Wipo information: entry into national phase

Ref document number: 2015856081

Country of ref document: EP

NENP Non-entry into the national phase

Ref country code: DE